Page 30 - Introduction to Autonomous Mobile Robots
P. 30
Locomotion
h 15
O
l
α α
d
Figure 2.2
A biped walking system can be approximated by a rolling polygon, with sides equal in length d to the
span of the step. As the step size decreases, the polygon approaches a circle or wheel with the radius l.
100
tire on soft
ground
crawling/sliding walking
unit power (hp/ton) running flow
10
1
railway wheel
0.1
1 10 100
speed (miles/hour)
Figure 2.3
Specific power versus attainable speed of various locomotion mechanisms [33].
